/**
* This file is part of ORB-SLAM2.
*
* Copyright (C) 2014-2016 Raúl Mur-Artal <raulmur at unizar dot es> (University of Zaragoza)
* For more information see <https://github.com/raulmur/ORB_SLAM2>
*
* ORB-SLAM2 is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* ORB-SLAM2 is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with ORB-SLAM2. If not, see <http://www.gnu.org/licenses/>.
*/

#ifndef YGZ_OPTIMIZER_H_
#define YGZ_OPTIMIZER_H_

#include "Map.h"
#include "MapPoint.h"
#include "KeyFrame.h"
#include "LoopClosing.h"
#include "Frame.h"
#include "Common.h"

// 所有和优化相关的函数

namespace ygz {

    class LoopClosing;

    class Optimizer {
    public:
        // IMU related
        void static GlobalBundleAdjustmentNavState(Map *pMap, const Vector3d &gw, int nIterations, bool *pbStopFlag,
                                                   const unsigned long nLoopKF, const bool bRobust);

        int static
        PoseOptimization(Frame *pFrame, KeyFrame *pLastKF, const IMUPreintegrator &imupreint, const Vector3d &gw,
                         const bool &bComputeMarg = false);

        int static
        PoseOptimization(Frame *pFrame, Frame *pLastFrame, const IMUPreintegrator &imupreint, const Vector3d &gw,
                         const bool &bComputeMarg = false);

        void static
        LocalBundleAdjustmentNavState(KeyFrame *pKF, const std::list<KeyFrame *> &lLocalKeyFrames, bool *pbStopFlag,
                                      Map *pMap, const Vector3d &gw, LocalMapping *pLM = NULL);

        Vector3d static OptimizeInitialGyroBias(const std::list<KeyFrame *> &lLocalKeyFrames);

        Vector3d static OptimizeInitialGyroBias(const std::vector<KeyFrame *> &vLocalKeyFrames);

        Vector3d static OptimizeInitialGyroBias(const std::vector<Frame> &vFrames);

        Vector3d static OptimizeInitialGyroBias(const vector<SE3d> &vTwc, const vector<IMUPreintegrator> &vImuPreInt);

        // vision only
        void static BundleAdjustment(const std::vector<KeyFrame *> &vpKF, const std::vector<MapPoint *> &vpMP,
                                     int nIterations = 5, bool *pbStopFlag = NULL, const unsigned long nLoopKF = 0,
                                     const bool bRobust = true);

        void static GlobalBundleAdjustemnt(Map *pMap, int nIterations = 5, bool *pbStopFlag = NULL,
                                           const unsigned long nLoopKF = 0, const bool bRobust = true);

        void static LocalBundleAdjustment(KeyFrame *pKF, bool *pbStopFlag, Map *pMap, LocalMapping *pLM = NULL);

        int static PoseOptimization(Frame *pFrame);

        // if bFixScale is true, 6DoF optimization (stereo,rgbd), 7DoF otherwise (mono)
        void static OptimizeEssentialGraph(Map *pMap, KeyFrame *pLoopKF, KeyFrame *pCurKF,
                                           const LoopClosing::KeyFrameAndPose &NonCorrectedSim3,
                                           const LoopClosing::KeyFrameAndPose &CorrectedSim3,
                                           const map<KeyFrame *, set<KeyFrame *> > &LoopConnections,
                                           const bool &bFixScale, LoopClosing *pLC = NULL);

        // if bFixScale is true, optimize SE3 (stereo,rgbd), Sim3 otherwise (mono)
        static int OptimizeSim3(KeyFrame *pKF1, KeyFrame *pKF2, std::vector<MapPoint *> &vpMatches1,
                                g2o::Sim3 &g2oS12, const float th2, const bool bFixScale);
    };

} //namespace ygz

#endif // OPTIMIZER_H
